There are a lot of “soft-roaders” out there that have the aesthetics of an SUV but don’t have the off-road chops to back them up. Two midsize SUVs that both walk the walk and talk the talk in terms of off-roading are the Jeep Grand Cherokee and the Toyota 4Runner, two of the most off-road capable vehicles in their class.
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https://www.autotrader.com/car-review/2019-toyota-4runner-vs-2019-jeep-grand-cherokee-wh-281474979902539